Download or read book Practical Sensor based Manipulator Motion Planning in Completely Unknown Dynamic Environments written by Rayomand Soli Vatcha and published by . This book was released on 2006 with total page 72 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous high-DOF robot manipulators working in unstructured environments has been one of the ultimate challenges in robotics research. Progress towards this goal requires advances in many domains, including manipulator motion planning in unknown and dynamic environments. Where there is relatively little work in the literature. This thesis presents a novel and practical approach to sensor-based real-time motion planning for manipulators in a completely unknown dynamic environment. The approach is implemented and tested on a real 5-DOF robot manipulator equipped with an overhead stereo vision system with good results.

Download or read book Proceedings of the 2018 International Symposium on Experimental Robotics written by Jing Xiao and published by Springer Nature. This book was released on 2020-01-22 with total page 804 pages. Available in PDF, EPUB and Kindle. Book excerpt: In addition to the contributions presented at the 2018 International Symposium on Experimental Robotics (ISER 2018), this book features summaries of the discussions that were held during the event in Buenos Aires, Argentina. These summaries, authored by leading researchers and session organizers, offer important insights on the issues that drove the symposium debates. Readers will find cutting-edge experimental research results from a range of robotics domains, such as medical robotics, unmanned aerial vehicles, mobile robot navigation, mapping and localization, field robotics, robot learning, robotic manipulation, human–robot interaction, and design and prototyping. In this unique collection of the latest experimental robotics work, the common thread is the experimental testing and validation of new ideas and methodologies. The International Symposium on Experimental Robotics is a series of bi-annual symposia sponsored by the International Foundation of Robotics Research, whose goal is to provide a dedicated forum for experimental robotics research. In recent years, robotics has broadened its scientific scope, deepened its methodologies and expanded its applications. However, the significance of experiments remains at the heart of the discipline. The ISER gatherings are an essential venue where scientists can meet and have in-depth discussions on robotics based on this central tenet.

Download or read book Mobile Robot Motion Control and Path Planning written by Ahmad Taher Azar and published by Springer Nature. This book was released on 2023-06-30 with total page 670 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the recent research advances in linear and nonlinear control techniques. From both a theoretical and practical standpoint, motion planning and related control challenges are key parts of robotics. Indeed, the literature on the planning of geometric paths and the generation of time-based trajectories, while accounting for the compatibility of such paths and trajectories with the kinematic and dynamic constraints of a manipulator or a mobile vehicle, is extensive and rich in historical references. Path planning is vital and critical for many different types of robotics, including autonomous vehicles, multiple robots, and robot arms. In the case of multiple robot route planning, it is critical to produce a safe path that avoids colliding with objects or other robots. When designing a safe path for an aerial or underwater robot, the 3D environment must be considered. As the number of degrees of freedom on a robot arm increases, so does the difficulty of path planning. As a result, safe pathways for high-dimensional systems must be developed in a timely manner. Nonetheless, modern robotic applications, particularly those requiring one or more robots to operate in a dynamic environment (e.g., human–robot collaboration and physical interaction, surveillance, or exploration of unknown spaces with mobile agents, etc.), pose new and exciting challenges to researchers and practitioners. For instance, planning a robot's motion in a dynamic environment necessitates the real-time and online execution of difficult computational operations. The development of efficient solutions for such real-time computations, which could be offered by specially designed computational architectures, optimized algorithms, and other unique contributions, is thus a critical step in the advancement of present and future-oriented robotics.

Download or read book Realtime Motion Planning for Manipulator Robots Under Dynamic Environments written by Olabanjo Ogunlowore and published by . This book was released on 2013 with total page 113 pages. Available in PDF, EPUB and Kindle. Book excerpt: This report presents optimal control methods integrated with hierarchical control framework to realize real-time collision-free optimal trajectories for motion control in kinematic chain manipulator (KCM) robot systems under dynamic environments. Recently, they have been increasingly used in applications where manipulators are required to interact with random objects and humans. As a result, more complex trajectory planning schemes are required. The main objective of this research is to develop new motion control strategies that can enable such robots to operate efficiently and optimally in such unknown and dynamic environments. Two direct optimal control methods: The direct collocation method and discrete mechanics for optimal control methods are investigated for solving the related constrained optimal control problem and the results are compared. Using the receding horizon control structure, open-loop sub-optimal trajectories are generated as real-time input to the controller as opposed to the predefined trajectory over the entire time duration. This, in essence, captures the dynamic nature of the obstacles. The closed-loop position controller is then engaged to span the robot end-effector along this desired optimal path by computing appropriate torque commands for the joint actuators. Employing a two-degree of freedom technique, collision-free trajectories and robot environment information are transmitted in real-time by the aid of a bidirectional connectionless datagram transfer. A hierarchical network control platform is designed to condition triggering of precedent activities between a dedicated machine computing the optimal trajectory and the real-time computer running a low-level controller. Experimental results on a 2-link planar robot are presented to validate the main ideas. Real-time implementation of collision-free workspace trajectory control is achieved for cases where obstacles are arbitrarily changing in the robot workspace.

Download or read book Motion Planning in Dynamic Environments written by Kikuo Fujimura and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.

Download or read book Safe Motion Planning Under Uncertainty for Mobile Manipulators in Unknown Environments written by Vinay Kumar Pilania and published by . This book was released on 2015 with total page 121 pages. Available in PDF, EPUB and Kindle. Book excerpt: For a mobile manipulator to operate and perform useful tasks in human-centered environments, it is important to work toward the realization of robust motion planners that incorporate uncertainty inherent in robot's control and sensing and provide safe motion plans for reliable robot operation. Designing such planners pose a significant challenge because of computational complexity associated with mobile manipulator planning and planning under uncertainty. Current planning approaches for mobile manipulation are often conservative in nature and the uncertainty is largely ignored. In this thesis, we propose sampling-based efficient and robust mobile manipulator planners that use smart strategies to deal with computational complexity and incorporate uncertainty to generate safer plans. The first part of the research addresses the design of an efficient planner for deterministic case, where robot state is fully known, and then subsequent extension to incorporate base pose uncertainty. In the first part, we propose a Hierarchical and Adaptive Mobile Manipulator Planner (HAMP) that plans both for the base and the arm in a judicious manner - allowing the manipulator to change its configuration autonomously when needed if the current arm configuration is in collision with the environment as the mobile manipulator moves along the planned path. We show that HAMP is probabilistically complete. We then propose an extension of HAMP (HAMP-U) to account for localization uncertainty associated with the mobile base position. The advantages of our planners are illustrated and discussed. The second part of the research deals with the computational complexity involved in planning under uncertainty. For that, we propose localization aware sampling and connection strategies that help to reduce the planning time significantly with little compromise on the quality of path. In the third part, we learnt from the shortcomings of HAMP-U and took advantage of our smart strategies developed to combat the computational complexity. We propose an efficient and robust mobile manipulator planner (HAMP-BAU) that plans judiciously and considers the base pose uncertainty and the effects of this uncertainty on manipulator motions. It uses our localization aware sampling and connection strategies to consider only those nodes and edges which contribute toward better localization. This helps to find the same quality of path in shorter time. We also extend HAMP-BAU to incorporate task space constraints (HAMP-BAU-TC). Finally, in the last part of the work, we incorporate our planners (HAMP-BAU and HAMP-BAU-TC) within an integrated and fully autonomous system for mobile pick-and-place tasks in unknown static environments. We demonstrate our system both in simulation and real experiments on SFU mobile manipulator.

Download or read book Motion Planning for Dynamic Agents written by Zain Anwar Ali and published by BoD – Books on Demand. This book was released on 2024-01-17 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, Motion Planning for Dynamic Agents, presents a thorough overview of current advancements and provides insights into the fascinating and vital field of aeronautics. It focuses on modern research and development, with an emphasis on dynamic agents. The chapters address a wide range of complex capabilities, including formation control, guidance and navigation, control techniques, wide-space coverage for inspection and exploration, and the best pathfinding in unknown territory. This book is a valuable resource for scholars, practitioners, and amateurs alike due to the variety of perspectives that are included, which help readers gain a sophisticated understanding of the difficulties and developments in the area of study.

Download or read book Motion Planning for Manipulator in Dynamic Environment Using RGB D Sensor written by and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Principles of Robot Motion written by Howie Choset and published by MIT Press. This book was released on 2005-05-20 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.

Download or read book Robotics From Manipulator To Mobilebot written by Zixing Cai and published by World Scientific. This book was released on 2022-08-29 with total page 656 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a comprehensive collection and practical guide on robotics derived from the author's research in robotics since 1988. The Chinese edition of this book has sold over 300,000 copies, and is one of the best-selling books on robotics in China.The book covers the core technology of robotics, including the basic theories and techniques of robot manipulator, mobile robots to focus on location navigation, and intelligent control underpinned by artificial intelligence and deep learning. Several case studies from national research projects in China are also included to help readers understand the theoretical foundations of robotics and related application developments. This book is a valuable reference for undergraduate and graduate students of robotics courses.

Download or read book Task Based Global Motion Planning of Multiple Manipulators in Time varying Environments written by Achint Aggarwal and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The field of robotics is clearly seen to be heading towards a world in which humans and robots can exist together safely and coherently be it in industries, households or battlefields. The primary obstacle for this harmonistic coexistence is the inability of robots to interact effectively and safely with the environment. Human machine interaction still seems to be far off until the development of effective and reliable robots that understand their environment and interact with it safely. The application of robots in industrial environments has over the last two decades received a significant impetus, such that the robots can now perform pre-programmed and repetitive low-valued tasks almost to perfection. However, the need of the hour is to make robots go beyond this level and practically start augmenting human capability and reducing human drudgery even outside the factory floor. This makes robot motion planning one of the most important areas in robotics research. Without a motion planner for manipulators and mobile robots, human operators have to constantly monitor and define their detailed motion. An automatic motion planner will relieve the operators from this tedious job and enable them to exercise control at a supervisory level. This in turn, increases efficiency by eliminating human errors. Further, path planning can be considered to be the backbone of any motion planning algorithm. An efficient path planner with added performance criteria and constraints makes an efficient motion planner. This specific research effort of developing a motion planner falls within the broader goal of developing a safety architecture that enables high performance intelligent machines that coexist and cooperate safely with other systems and humans. A large body of research in the area of robotics focuses on the path planning of mobile robots while the manipulators' ability to effectively operate autonomously in cluttered and dynamically changing environments stays relatively under explored. This work will rely on the past achievements in collision detection, obstacle avoidance and motion planning of the Robotics Research Group (RRG) at the University of Texas at Austin (UT Austin). This area of research offers chances for a wide breadth of advancement in robotics as it can be applied to traditional stationary robots, both redundant and non-redundant manipulators, as well as to mobile manipulators where both the path of the manipulator itself and the path of the manipulator's mobile base must be accounted for when attempting to plan collision free paths.

Download or read book Sensor based Motion Planning with Kinematic and Dynamic Constraints written by Andrei M. Shkel and published by . This book was released on 1997 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 704 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Interleaved Predictive Control and Planning for an Unmanned Aerial Manipulator with On the fly Rapid Replanning for Object Retrieval in Unknown Environments written by Mohammadreza Yavari and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Manipulators (UAM) are gaining attention within the unmanned aerial systems research community. They can be used for aerial manipulation tasks such as object retrieval from confined and hard-to-reach spaces. The coupled dynamics between the arm and the base and also the limited flight time would require the development and implementation of optimal motion planning and robust flight control strategies. In this work, we propose a novel integrated planning and control strategy for object retrieval. A new kinodynamic version of the RRT*, called Lazy-Steering-RRT*, is developed for planning UAM's motion from its start to a pre-grasp state, while keeping the motion of the arm to a minimum. This planning can be carried out on the fly by using Machine-Learning-based techniques to construct the edges in the search tree in a time-efficient way. This facilitates re-planning, as the environment is gradually sensed by limited range sensors onboard. Once the UAM reaches the pre-grasp state at the end of the motion cycle, an RRT approach is then utilized, where motions of the base and the arm are coordinated for reaching and grasping the object. An MPC/feedback-linearization control approach is also utilized for end-effector trajectory tracking based on a novel cross-dynamic partitioning approach between the arm and the base. The overall motion planning and control algorithms have been implemented in simulation using Multibody Physics Engines for realistic results and a number of representative simulation runs are presented. Our results show that the approach is effective in successfully executing the object retrieval task even in presence of confined spaces.

Download or read book Motion Planning written by Xj Jing and published by BoD – Books on Demand. This book was released on 2008-06-01 with total page 610 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, new results or developments from different research backgrounds and application fields are put together to provide a wide and useful viewpoint on these headed research problems mentioned above, focused on the motion planning problem of mobile ro-bots. These results cover a large range of the problems that are frequently encountered in the motion planning of mobile robots both in theoretical methods and practical applications including obstacle avoidance methods, navigation and localization techniques, environmental modelling or map building methods, and vision signal processing etc. Different methods such as potential fields, reactive behaviours, neural-fuzzy based methods, motion control methods and so on are studied. Through this book and its references, the reader will definitely be able to get a thorough overview on the current research results for this specific topic in robotics. The book is intended for the readers who are interested and active in the field of robotics and especially for those who want to study and develop their own methods in motion/path planning or control for an intelligent robotic system.

Download or read book Motion Planning and Sensory Processing in a Dynamic Environment written by and published by . This book was released on 1994 with total page 34 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this research is to develop a sensor controlled intelligent mobile robot system for operating in a dynamic environment. In contrast to approaches for operating in a static environment, the proposed method is designed explicitly for navigation in dynamic environments and is able to immediately modify its control strategies in response to unexpected changes in the environment. The research herein is divided into two major areas: motion planning and sensory processing. The motion planning research introduces the concept of traversability vectors which can be used to represent a dynamic environment, and uses a temporal reasoning scheme to plan the robot motion. The primary research in sensory processing being the control or integration of multiple sensors on the mobile robot so as to allow for their coordinated use for the detection and avoidance of objects and obstacles in the environment.

Download or read book Robotics Research written by Yoshiaki Shirai and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 456 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Eighth International Symposium of Robotics Research was held in Kanagawa, Japan, on October 4-7 1997; Robotics Research presents the findings of this symposium. The papers, written by international specialists in the field, cover the many topics concerning advanced robotics today, ranging from practical system design to theoretical reasoning and planning. They assess the state of the field and discuss all the current and emerging trends dealing with, amongst many other topics, mobile robotics, manufacturing, learning from humans, autonomous land vehicles, humanoid robots, future robots, and new components. The reader will share with the attendees the meaningful steps forward in building the emerging body of concepts, methods, scientific and technical knowledge that shape modern day robotics.